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<div class="title">organized_pointcloud_compression.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_ORGANIZED_POINT_COMPRESSION_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_ORGANIZED_POINT_COMPRESSION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/common/boost.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/common/eigen.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2common_2common_8h.html">pcl/common/common.h</a>&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/common/io.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/io/openni_camera/openni_shift_to_depth_conversion.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html">   61</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html">OrganizedPointCloudCompression</a></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    {</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;PointCloud&gt; PointCloudPtr;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const PointCloud&gt; PointCloudConstPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#af2ccfe643c604980492fd7a374d77a51">   69</a></span>&#160;        <a class="code" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#af2ccfe643c604980492fd7a374d77a51">OrganizedPointCloudCompression</a> ()</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a6049d0fba6f0c73f51dd144375b500f5">   74</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a6049d0fba6f0c73f51dd144375b500f5">~OrganizedPointCloudCompression</a> ()</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        {</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        }</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a60f35343fb295b9bef39da3c90ce84bc">encodePointCloud</a> (<span class="keyword">const</span> PointCloudConstPtr &amp;cloud_arg,</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;                               std::ostream&amp; compressedDataOut_arg,</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;                               <span class="keywordtype">bool</span> doColorEncoding = <span class="keyword">false</span>,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                               <span class="keywordtype">bool</span> convertToMono = <span class="keyword">false</span>,</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;                               <span class="keywordtype">bool</span> bShowStatistics_arg = <span class="keyword">true</span>,</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;                               <span class="keywordtype">int</span> pngLevel_arg = -1);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a3726b860fbc225e92938837bdd1cdc00">encodeRawDisparityMapWithColorImage</a> ( std::vector&lt;uint16_t&gt;&amp; disparityMap_arg,</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;                                                   std::vector&lt;uint8_t&gt;&amp; colorImage_arg,</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;                                                   uint32_t width_arg,</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;                                                   uint32_t height_arg,</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;                                                   std::ostream&amp; compressedDataOut_arg,</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;                                                   <span class="keywordtype">bool</span> doColorEncoding = <span class="keyword">false</span>,</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;                                                   <span class="keywordtype">bool</span> convertToMono = <span class="keyword">false</span>,</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;                                                   <span class="keywordtype">bool</span> bShowStatistics_arg = <span class="keyword">true</span>,</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;                                                   <span class="keywordtype">int</span> pngLevel_arg = -1,</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;                                                   <span class="keywordtype">float</span> focalLength_arg = 525.0f,</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;                                                   <span class="keywordtype">float</span> disparityShift_arg = 174.825f,</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;                                                   <span class="keywordtype">float</span> disparityScale_arg = -0.161175f);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a9b003417b7c2c32ad572194146d30273">decodePointCloud</a> (std::istream&amp; compressedDataIn_arg,</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                               PointCloudPtr &amp;cloud_arg,</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;                               <span class="keywordtype">bool</span> bShowStatistics_arg = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#ab75391bec48adf2361ac0aeec32089cd">analyzeOrganizedCloud</a> (PointCloudConstPtr cloud_arg,</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                                    <span class="keywordtype">float</span>&amp; maxDepth_arg,</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;                                    <span class="keywordtype">float</span>&amp; focalLength_arg) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="comment">// frame header identifier</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* frameHeaderIdentifier_;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="comment">//</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        openni_wrapper::ShiftToDepthConverter sd_converter_;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    };</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="comment">// define frame identifier</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">char</span>* OrganizedPointCloudCompression&lt;PointT&gt;::frameHeaderIdentifier_ = <span class="stringliteral">&quot;&lt;PCL-ORG-COMPRESSED&gt;&quot;</span>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;}</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_organized_point_cloud_compression_html"><div class="ttname"><a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html">pcl::io::OrganizedPointCloudCompression</a></div><div class="ttdef"><b>Definition:</b> organized_pointcloud_compression.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_organized_point_cloud_compression_html_a3726b860fbc225e92938837bdd1cdc00"><div class="ttname"><a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a3726b860fbc225e92938837bdd1cdc00">pcl::io::OrganizedPointCloudCompression::encodeRawDisparityMapWithColorImage</a></div><div class="ttdeci">void encodeRawDisparityMapWithColorImage(std::vector&lt; uint16_t &gt; &amp;disparityMap_arg, std::vector&lt; uint8_t &gt; &amp;colorImage_arg, uint32_t width_arg, uint32_t height_arg, std::ostream &amp;compressedDataOut_arg, bool doColorEncoding=false, bool convertToMono=false, bool bShowStatistics_arg=true, int pngLevel_arg=-1, float focalLength_arg=525.0f, float disparityShift_arg=174.825f, float disparityScale_arg=-0.161175f)</div><div class="ttdoc">Encode raw disparity map and color image.</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_compression.hpp:159</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_organized_point_cloud_compression_html_a6049d0fba6f0c73f51dd144375b500f5"><div class="ttname"><a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a6049d0fba6f0c73f51dd144375b500f5">pcl::io::OrganizedPointCloudCompression::~OrganizedPointCloudCompression</a></div><div class="ttdeci">virtual ~OrganizedPointCloudCompression()</div><div class="ttdoc">Empty deconstructor.</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_compression.h:74</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_organized_point_cloud_compression_html_a60f35343fb295b9bef39da3c90ce84bc"><div class="ttname"><a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a60f35343fb295b9bef39da3c90ce84bc">pcl::io::OrganizedPointCloudCompression::encodePointCloud</a></div><div class="ttdeci">void encodePointCloud(const PointCloudConstPtr &amp;cloud_arg, std::ostream &amp;compressedDataOut_arg, bool doColorEncoding=false, bool convertToMono=false, bool bShowStatistics_arg=true, int pngLevel_arg=-1)</div><div class="ttdoc">Encode point cloud to output stream</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_compression.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_organized_point_cloud_compression_html_a9b003417b7c2c32ad572194146d30273"><div class="ttname"><a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#a9b003417b7c2c32ad572194146d30273">pcl::io::OrganizedPointCloudCompression::decodePointCloud</a></div><div class="ttdeci">bool decodePointCloud(std::istream &amp;compressedDataIn_arg, PointCloudPtr &amp;cloud_arg, bool bShowStatistics_arg=true)</div><div class="ttdoc">Decode point cloud from input stream</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_compression.hpp:277</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_organized_point_cloud_compression_html_ab75391bec48adf2361ac0aeec32089cd"><div class="ttname"><a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#ab75391bec48adf2361ac0aeec32089cd">pcl::io::OrganizedPointCloudCompression::analyzeOrganizedCloud</a></div><div class="ttdeci">void analyzeOrganizedCloud(PointCloudConstPtr cloud_arg, float &amp;maxDepth_arg, float &amp;focalLength_arg) const</div><div class="ttdoc">Analyze input point cloud and calculate the maximum depth and focal length</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_compression.hpp:404</div></div>
<div class="ttc" id="aclasspcl_1_1io_1_1_organized_point_cloud_compression_html_af2ccfe643c604980492fd7a374d77a51"><div class="ttname"><a href="classpcl_1_1io_1_1_organized_point_cloud_compression.html#af2ccfe643c604980492fd7a374d77a51">pcl::io::OrganizedPointCloudCompression::OrganizedPointCloudCompression</a></div><div class="ttdeci">OrganizedPointCloudCompression()</div><div class="ttdoc">Empty Constructor.</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_compression.h:69</div></div>
<div class="ttc" id="acommon_2include_2pcl_2common_2common_8h_html"><div class="ttname"><a href="common_2include_2pcl_2common_2common_8h.html">common.h</a></div></div>
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